Micro-needle art hair transplantation follicle intelligent precise positioning system

Abstract

The application discloses a micro-needle artistic hair transplantation follicle intelligent precise positioning system and relates to the technical field of hair transplantation follicle image processing. The system determines a hair transplantation area through obtained three-dimensional network imaging of follicles, establishes a two-dimensional coordinate system taking the target area to be measured as a reference to preliminarily plan the planting density, further divides the follicle density gradient according to the determined hair transplantation area, marks the coordinate positions of the follicles, forms a visual follicle planting point distribution map, provides reference points for the positioning of the micro-needle, and finally monitors the skin deformation and the deviation of the micro-needle positioning coordinates in the spatial feature coordinate system in real time, adjusts the micro-needle puncture positioning, realizes the precise positioning alignment of the micro-needle and the target follicle, and solves the problem of low accuracy of the intelligent positioning of the hair transplantation follicle in the process of converting the position image coordinates of the hair transplantation area to the mechanical arm coordinate system when the micro-needle carries out the planting operation according to the feedback information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hair follicle image processing, in particular to a micro-needle artistic hair follicle intelligent and accurate positioning system. BACKGROUND

[0002] A high-resolution image of the scalp of a subject to be transplanted is collected to obtain complete visual information including hair follicles, scalp tissue and existing hair. Then, image preprocessing techniques are used to remove image noise through Gaussian filtering and enhance the gray scale contrast of hair follicles and the surrounding scalp through histogram equalization to lay a foundation for subsequent recognition. Subsequently, edge detection is used to extract the edge profile of the hair follicle, and segmentation techniques are used to separate the hair follicle region with obvious color and gray scale differences from the scalp background. The hair follicle region is also optimized, and the center coordinates and distribution position of individual hair follicles are determined through contour fitting or feature point extraction. Finally, the core processing unit converts the positioning results into coordinate data to provide position reference for the movement of the mechanical arm of the micro-needle hair transplantation equipment, assisting in the accurate extraction and implantation of hair follicles, and preliminarily realizing the visualization and data of hair follicle positioning in the hair transplantation process.

[0003] For example, the Chinese invention patent with publication number CN114972307B discloses a hair follicle automatic recognition method and system based on deep learning and a hair transplantation robot, which includes extracting hair follicle images in the hair collection area of the collected image and each target hair follicle image, constructing a deep learning model and evaluating the target hair follicle image, selecting hair follicle recognition images that meet the conditions based on the evaluation results, and finally obtaining root position information in the hair follicle according to the hair follicle recognition image to automatically perform the hair collection link in the hair transplantation surgery process.

[0004] For example, the Chinese invention patent application with publication number CN120495266A discloses a hair follicle activity grading and positioning system and method based on multispectral imaging, which includes obtaining reflection light information, constructing image information based on the obtained reflection light information, preprocessing the image information to obtain a first image, extracting first and second features from the first image, determining the activity level of the target hair follicle, and determining the position of the target hair follicle based on the first and second features and the activity level.

[0005] The above-mentioned technology at least has the following technical problems:

[0006] In the prior art, in order to accurately capture the details of hair follicle distribution and scalp texture, the image of the hair transplantation area needs to have high resolution and high definition, which increases the data volume of a single image, causing the image information of the hair transplantation area to be unable to be transmitted to the core processing unit in real time. After the image collection is completed, the processing unit needs to wait for the internal resources to be processed before processing the received image data, which causes processing delay of the real-time transmitted image data, aggravates the feedback delay of the preliminary positioning, and causes the micro-needle to be unable to accurately match the actual position of the scalp hair follicle when the micro-needle is planted according to the feedback information, thereby causing the positioning accuracy to decrease, and the problem of low accuracy of intelligent positioning of the hair follicle in the hair transplantation area when the image coordinates of the region position are converted to the mechanical arm coordinate system. SUMMARY

[0007] In order to solve the technical problem of low accuracy of intelligent positioning of the hair follicle in the hair transplantation area when the image coordinates of the region position are converted to the mechanical arm coordinate system in the prior art, the embodiment of the present application provides a micro-needle artistic hair transplantation hair follicle intelligent accurate positioning system. The technical scheme is as follows:

[0008] On the one hand, the micro-needle artistic hair transplantation hair follicle intelligent accurate positioning system is provided, which comprises the following modules: a planting area positioning planning module, a hair follicle preliminary positioning module and a micro-needle accurate positioning alignment module; wherein the planting area positioning planning module is used for determining a hair transplantation area according to obtained hair follicle three-dimensional network imaging, synchronously establishing a two-dimensional coordinate system with the target area to be measured as a reference, and performing preliminary planting density planning based on obtained hair follicle distribution data to generate a planting point distribution scheme. The hair follicle three-dimensional network imaging represents the hair transplantation area to be positioned by image recognition algorithm. The two-dimensional coordinate system represents an X-Y plane coordinate system with the center of the target area to be measured as an origin, and a three-dimensional positioning reference formed by taking the depth of the hair follicle as a Z axis. The hair follicle preliminary positioning module is used for dividing the determined hair transplantation area according to the density gradient of the hair follicle to determine the differential density gradient interval, and marking the coordinate positions of each hair follicle in the hair transplantation area in the two-dimensional coordinate system to form a visual hair follicle planting point distribution map. The micro-needle accurate positioning alignment module is used for monitoring the skin dynamic deformation and the micro-needle positioning coordinate deviation in the two-dimensional coordinate system in real time according to the marked hair follicle coordinate positions, and adjusting the micro-needle puncture to realize the accurate positioning and alignment of the micro-needle and the target hair follicle.

[0009] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0010] 1. Through the coordinated operation of three modules of planting area positioning planning, preliminary positioning of hair follicles, and accurate positioning and alignment of microneedles, the intelligent and accurate positioning of hair follicles is realized. The planting area positioning planning module determines the range to be planted based on the three-dimensional network imaging of hair follicles, synchronously establishes a three-dimensional positioning reference, and plans the planting density and point position, without relying on long-time transmission of high-resolution images, reducing the information transmission delay caused by excessive data volume. The preliminary positioning module of hair follicles marks the coordinates of hair follicles in a two-dimensional coordinate system and divides the density gradient, forming a visual distribution map, avoiding the image data processing delay caused by the waiting resources of the processing unit, and shortening the feedback time of preliminary positioning. The accurate positioning and alignment module of microneedles monitors the skin deformation and deviation of microneedle coordinates in real time and dynamically adjusts the puncture, ensuring the accurate matching of microneedles and hair follicle positions. This system not only avoids the transmission delay caused by the large data volume of high-resolution images, but also eliminates the processing delay caused by the resource waiting of the processing unit, avoids the feedback delay of preliminary positioning, improves the accuracy of hair follicle positioning when converting image coordinates to mechanical arm coordinates, and ensures the accurate matching of microneedle planting operation and actual hair follicle position on the scalp.

[0011] 2. The hair follicle density index constructed by comprehensive consideration can truly reflect the degree of hair follicle loss and the demand for replenishment, avoiding the one-sidedness of developing a plan based on single density data. Combined with the physiological parameters of the scalp, the density planning adapts to the characteristics, reducing the unreasonable density that cannot achieve the ideal effect. Real-time monitoring of the surface deformation coefficient realizes the dynamic adjustment of the puncture depth of microneedles. Through reasonable control of the spacing between planting points by density planning, a stable positioning space is reserved for microneedle puncture, avoiding the positioning deviation during the puncture process caused by excessive positioning, and the distribution of positioning points is adapted to the mechanical properties of the scalp, preventing the planned positioning points from being unable to be executed stably by the system due to the limitation of characteristics, ensuring the operability of each positioning point at the device operation level.

[0012] 3. Through density gradient division, a complete gradient planning system is constructed based on the final planting density scheme, combining the hair follicle density data obtained by layered scanning, solving the problem of uneven planting distribution. According to the hair follicle density data, the scanning layer thickness is adjusted to avoid missing potential planting points due to incomplete scanning and to prevent coordinate deviation caused by insufficient scanning accuracy, so that the identification of hair follicles in each layer can adapt to the actual density situation, providing accurate data support for gradient division. By comparing the actual planting planning density with the reference interval, the density data deviating from the interval is corrected in time to ensure that the final planting density of each layered area meets the overall planning requirements and adapts to the hair follicle distribution characteristics of the local area, making the hair follicle planting density in different areas present reasonable differences according to actual needs.

[0013] 4. By formulating differentiated adjustment strategies for different scenarios of too small inter-follicle spacing, balancing the needs of core area planting accuracy and overall uniformity of distribution, ensuring that the follicle distribution in the region always remains uniform, and prioritizing the accuracy of follicle coordinates in the core planting area, preventing a decrease in core area planting accuracy due to accommodation of secondary areas, this coordinate adjustment strategy reduces local accuracy loss and ensures that the planting effect in the core area is not affected; real-time monitoring of skin dynamic deformation and microneedle execution position deviation after coordinate adjustment can timely detect coordinate deviation after adjustment due to changes in scalp state, providing real-time correction basis for subsequent microneedle positioning, so that the follicle coordinates always coincide with the target planting position, improving the reliability of planting positioning.

[0014] 5. By real-time monitoring of skin dynamic deformation and position deviation, dynamic synchronization of microneedle positioning and scalp state is achieved, a stress-deformation relationship curve is constructed, subtle deformation of the scalp during planting due to external force is captured, and the sampling frequency is automatically adjusted during monitoring to ensure more sensitive and timely perception of scalp deformation, avoiding deformation misjudgment due to monitoring lag; real-time checking of microneedle position deviation can quickly correct the deviation trend of the microneedle, preventing errors in the puncture position caused by accumulated deviation; this real-time monitoring and dynamic adjustment not only avoids misalignment of the microneedle and the target follicle caused by scalp deformation, but also ensures that the follicle can be accurately implanted in the preset position, avoiding the influence of implantation position deviation on the growth direction and survival rate of the follicle, and the synchronous update of the planting execution data table provides accurate coordinate basis for each microneedle operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The structure diagram of the microneedle artistic hair transplantation follicle intelligent accurate positioning system provided by the embodiment of the present application;

[0017] Figure 2 The flowchart corresponding to the planting area positioning planning module and the follicle preliminary positioning module provided by the embodiment of the present application;

[0018] Figure 3 The flowchart corresponding to the microneedle accurate positioning alignment module provided by the embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the present application will be described below with reference to the drawings.

[0020] In the embodiments of the present application, the words such as "example", "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0021] In order to make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following will be described in detail in combination with the drawings and specific embodiments.

[0022] In the micro-needle artistic hair transplantation, accurate positioning of hair follicles is crucial to ensure the planting effect. However, the existing technology has obvious shortcomings, such as image processing delay, coordinate conversion deviation and other problems, which makes it difficult to achieve ideal state in the hair follicle positioning accuracy in the process of micro-needle hair transplantation, affecting the final effect. Therefore, the embodiments of the present application provide a micro-needle artistic hair transplantation hair follicle intelligent accurate positioning system, such as the micro-needle artistic hair transplantation hair follicle intelligent accurate positioning system structure diagram shown in the figure, the processing flow of the system can include the following modules: planting area positioning planning module, hair follicle preliminary positioning module and micro-needle accurate positioning alignment module. Figure 1

[0023] Among them, the planting area positioning planning module is used to determine the hair follicle three-dimensional network imaging according to the obtained hair follicle three-dimensional network imaging, determine the hair follicle three-dimensional network imaging, determine the hair follicle three-dimensional network imaging, and generate the planting point distribution scheme based on the obtained hair follicle distribution data. The hair follicle three-dimensional network imaging represents the hair loss area boundary marked and positioned by image recognition algorithm. The double-dimension coordinate system represents the X-Y plane coordinate system established with the center of the target area as the origin, and the depth of the hair follicle as the Z axis to form a three-dimensional positioning reference; the hair follicle preliminary positioning module is used to divide the hair follicle density gradient of the determined hair follicle area, to determine the differential density gradient interval, and to mark the hair follicle coordinate position of each hair follicle area in the double-dimension coordinate system, to form a visual hair follicle planting point distribution map; the micro-needle accurate positioning alignment module is used to monitor the skin dynamic deformation and micro-needle positioning coordinate deviation in the double-dimension coordinate system according to the marked hair follicle coordinate position, and to adjust the micro-needle puncture, to realize the accurate positioning and alignment of the micro-needle and the target hair follicle.

[0024] ​In the embodiment, the hair planting area positioning planning module generates the hair planting area range, the two-dimensional coordinate system, and the preliminary hair planting density planning scheme, which provides the core data benchmark and spatial framework for the operation of the subsequent two modules. The hair follicle preliminary positioning module needs to take the hair planting area determined by the hair planting area positioning planning module as the range boundary and perform hair follicle density gradient division under the spatial benchmark constructed by the two-dimensional coordinate system. The microneedle precise positioning alignment module takes the hair follicle coordinate position generated by the hair follicle preliminary positioning module as the core reference, needs to compare with the marked hair follicle coordinates under the two-dimensional coordinate system, judge whether the deviation exceeds the acceptable range and trigger adjustment, and the precise coordinate reference provided by the hair follicle preliminary positioning module provides the direction basis for real-time adjustment of the microneedle.

[0025] This synergy improves the accuracy of the entire hair planting positioning process, forms a complete and precise control chain, and the close cooperation between modules not only ensures the rationality of the planting scheme through early planning, but also responds to the dynamic changes of skin deformation during the planting process through real-time adjustment, which ensures the precise alignment of the microneedle and the target hair follicle, reduces the positioning deviation, and promotes the data-driven and precision-oriented upgrading of hair planting operation.

[0026] As shown in Figure 2 The process diagram corresponding to the hair planting area positioning planning module and the hair follicle preliminary positioning module provided by the embodiment of the application is shown in FIG. 1. The matching degree of the center coordinate is obtained by dividing the sub-area and performing priority sorting, and it is judged whether it is located in the first, second, and third priority area. After the priority sorting is completed, the preliminary hair planting density planning is performed. The hair follicle density gradient division is performed according to the obtained initial hair planting density, and the hair planting parameter matching is performed. In the matching process, the adaptive verification needs to be performed. Before the adaptive verification is performed, the data synchronous transmission accuracy needs to be verified. After the adaptive verification is passed, the hair planting parameter matching is completed.

[0027] Further, the area to be transplanted is determined, and the specific process is: obtaining data reflecting the distribution of hair follicles in the target area to be measured from the three-dimensional network imaging data of the hair follicles, and dividing the target area to be measured into a plurality of sub-areas in a fixed grid division manner (such as 5mmX5mm), and at the same time, the priority of each sub-area is sorted, and the specific process is: based on the preset priority arrangement rule, the center coordinate matching degree reflecting the priority of each sub-area is generated and mapped to the three-dimensional network imaging of the hair follicles, and at the same time, the priority evaluation interval is divided, so as to differentiate the different priority areas; the center coordinate matching degree represents the degree of coincidence between the geometric center coordinates of each sub-area and the center coordinates of the hair follicle three-dimensional network imaging, and the smaller the distance, the higher the matching degree, which intuitively reflects the core positioning priority of the sub-area in the overall hair transplantation plan; the specific numerical value of the fixed grid division manner is not constant, and the preset personnel can fine-tune the grid division manner size based on the current purpose, and the distance attenuation coefficient is used as the input based on the Euclidean distance, and through the adjustment of the distance attenuation coefficient, the distance difference in the physical space is converted into the center coordinate matching degree reflecting the positioning priority, and its role is to convert the distance difference in the physical space into the matching degree difference conforming to the clinical priority logic; the Euclidean distance between the historical each sub-area and the coordinate center, the actual priority of the sub-area is collected, the relationship between the distance and the matching degree is preliminarily fitted by linear regression to obtain the initial coefficient, and the least square algorithm is used to adjust the coefficient based on the linear regression model, so as to form a distance attenuation coefficient that can reflect the physical distance characteristics and meet the clinical priority requirements, and the performance is: the center coordinate matching degree represents the product of the distance attenuation coefficient and the inverse number of the normalized Euclidean distance. Since the center coordinate matching degree increases as the Euclidean distance decreases, and the distance attenuation coefficient and the normalized Euclidean distance have the same positive correlation with the dependent variable (center coordinate matching degree), the distance attenuation coefficient can be set to a negative value, and the normalized Euclidean distance is converted to a negative direction (such as 1-normalized value), so that the product of the two is positively associated with the matching degree, and the correlation is consistent.

[0028] The priority evaluation interval is divided, and the process is as follows: if the center coordinate matching degree of a sub-region is greater than the maximum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a first priority region; if the center coordinate matching degree of a sub-region is within the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a second priority region; if the center coordinate matching degree of a sub-region is less than the minimum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a third priority region; the hair transplant demand urgency of the first, second, and third priority regions decreases in turn; after the priority region is divided, the first, second, and third priority regions are color labeled (such as the first priority region is labeled red, the second priority region is labeled yellow, and the third priority region is labeled blue) in the three-dimensional hair follicle network imaging to record the scalp parameters of each sub-region after priority sorting, and the coordinates of the region to be transplanted are output to prompt the preset personnel to confirm the region to be transplanted, and after confirmation, the region to be transplanted is marked in the three-dimensional hair follicle network imaging.

[0029] The hair follicle density of the supply area corresponding to the implant object is obtained from the three-dimensional hair follicle network imaging data, and the hair follicle residual density in the region to be transplanted is obtained. The absolute value of the difference between the hair follicle density of the implant object and the hair follicle residual density is obtained, and a weighted operation is performed in combination with the area ratio of the region to be transplanted to obtain a hair follicle density index reflecting the hair follicle damage degree and the supplement demand of the region to be transplanted. The area ratio of the region to be transplanted represents the ratio of the area of the region to be transplanted to the total area of the scalp preset. Since the size of the region to be transplanted of different subjects has differences, the larger the area ratio of the region to be transplanted, the higher the weight of the region needing to supplement hair follicles in the overall reference range. The finally calculated hair follicle density index is also more in line with the actual transplantation demand of the overall scalp, avoiding evaluation deviation caused by only looking at local density and ignoring the size of the region.

[0030] The hair follicle density index is input into a reference density mapping table to obtain an initial planting density for reflecting the hair follicle distribution level of the hair transplantation area, which is used as a benchmark for subsequent optimization of the planting scheme in combination with the physiological parameters of the scalp (such as blood vessel density, epidermal thickness); the coordinate parameters of each sub-region of the hair transplantation area are obtained from a two-dimensional coordinate system, and the initial planting density is combined to generate a planting execution data table containing sub-region coordinates, planting point distribution, and puncture depth parameters, which are used to guide the micro-needle to perform hair transplantation operations according to precise positioning and density requirements; the hair follicle density data corresponding to different scanning layers in the hierarchical scanning process of the hair transplantation area is obtained from the planting execution data table; if the obtained hair follicle density data is less than the preset hair follicle density data, the hair follicle density data deviation is matched with the hair follicle density-scanning layer mapping relationship to obtain an adjustment value of the scanning layer thickness in the hierarchical scanning to increase the scanning layer thickness and improve the hair follicle recognition coverage; otherwise, the scanning layer thickness is reduced to improve the positioning accuracy; after the hierarchical scanning is completed, the planting parameter matching is performed, specifically: based on the measured data of the hair follicle distribution of each layer obtained after the hierarchical scanning of the hair transplantation area, the actual planting planning density is calculated through a weighting algorithm, and an adaptive verification is performed to determine the final planting density of each hierarchical region.

[0031] Based on the obtained initial planting density, the surface deformation coefficient of the planting object and the hair transplantation area is monitored in real time. The surface deformation coefficient represents the ratio of the deformation amount of the scalp of the hair transplantation area under the action of pressure to the applied pressure, which is a quantitative index reflecting the elastic characteristics and mechanical response of the scalp. The value directly relates to the dynamic adjustment requirement of the micro-needle puncture depth. For the area with a surface deformation coefficient greater than the preset surface deformation coefficient, the surface deformation coefficient upper deviation is input into the deformation coefficient-planting density mapping relationship to obtain a depth reduction value of the micro-needle puncture, and the current puncture depth is reduced by reducing the micro-needle feed rate. For the area with a surface deformation coefficient less than the preset surface deformation coefficient, the surface deformation coefficient lower deviation is input into the deformation coefficient-planting density mapping relationship to obtain a depth increase value of the micro-needle puncture, and the current puncture depth is increased by increasing the micro-needle feed amount. The dynamically adjusted micro-needle puncture depth is obtained, and the initial planting density is combined to generate a final planting density scheme adapted to the deformation characteristics of different hair transplantation areas.

[0032] In this embodiment, multi-dimensional optimization is achieved in terms of positioning accuracy of the area to be transplanted, scientificity of planting density planning and adaptability of operation. In the positioning of the area to be transplanted, the complex overall area is converted into sub-areas that can be analyzed in detail, avoiding local positioning deviation. The priority is quantitatively sorted by using the center coordinate matching degree, which reflects the planting priority of different sub-areas. The area with high priority is analyzed by priority area transmission, which reduces the data delay caused by large-scale image transmission. The sampling color marking makes the different priority areas intuitive and distinguishable, reduces the identification and planning speed, avoids the possible misjudgment of the area by single judgment, and improves the accuracy of the delineation of the area to be transplanted.

[0033] By fixed grid division, the target area to be measured is divided into several sub-areas, the positioning perspective is changed from the whole to the local fine analysis, the large-area region is difficult to accurately control the local boundary, and the positioning of each sub-area can focus on its own hair follicle distribution characteristics, which improves the positioning accuracy. By using the Euclidean distance under the double-dimensional coordinate system combined with the attenuation coefficient quantization, the core sub-area with higher coincidence degree with the center of the area to be transplanted is accurately identified, which ensures that the positioning of the high-priority area is accurate and has a clear priority basis, avoiding the positioning center deviation caused by the confusion of the core planting area and the secondary area in the traditional positioning, and focusing the positioning on the key parts with more urgent hair transplantation needs.

[0034] Furthermore, the color marking design of different priority areas converts the positioning result from abstract data into intuitive visual image information, which can quickly identify the positioning priority and specific position of each sub-area, reduces the interpretation time of the positioning result, and reduces the positioning misjudgment caused by data interpretation deviation. Through human-computer collaborative verification, the positioning deviation is further corrected to ensure that the area to be transplanted coordinates output by the system are highly consistent with the actual scalp condition, so that the positioning result has data accuracy and meets the positioning needs in actual operation. It can provide a preliminary judgment basis for the coordinate correction of subsequent microneedle positioning, avoid the shift of the determined area to be transplanted coordinates caused by the deformation of the scalp, and indirectly ensure the stability of the positioning result in the dynamic operation process, ensuring that the area accurately positioned in the early stage always maintains coordinate accuracy in subsequent planting.

[0035] The preset priority arrangement rule is based on the actual priority score of the preset personnel labeled sub-region, adopts a hybrid architecture of a convolutional neural network and a graph neural network, wherein the convolutional neural network is used to extract follicle distribution and boundary features in three-dimensional imaging, the graph neural network is used to model the spatial relationship between sub-regions, and a quantitative value of a center coordinate matching degree is combined to form a dynamic rule with adaptive individual differences; the reference center coordinate matching degree interval is a closed interval composed of the maximum and minimum values of the historical center coordinate matching degree in the historical priority sorting process, the reference density mapping table is obtained by training based on multi-source hair transplantation case data including three-dimensional imaging of follicles and scalp physiological parameters using a DDPG (Deep Deterministic Policy Gradient) reinforcement learning algorithm, and the mapping relationship between the deformation coefficient and the implant density is obtained by training based on the scalp elastic modulus and the surface deformation coefficient using a SAC (Soft Actor-Critic) reinforcement learning closed loop optimization to construct a mapping relationship between the surface deformation coefficient deviation and the increased value of the microneedle puncture depth; the surface deformation coefficient upper deviation and the surface deformation coefficient lower deviation are represented by the difference (including the positive and negative signs) between the preset surface deformation coefficient and the currently obtained surface deformation coefficient, and the preset surface deformation coefficient is represented by the result of summing and averaging the historical surface deformation coefficients in the historical preliminary implant density planning process.

[0036] The adaptive verification process is as follows: if the actual implant planning density is not in the density division reference interval, the implant planning density deviation is input into the density deviation-scan layer mapping relationship to obtain an actual implant planning density adjustment value, and the sampling frequency of the layered scanning is adjusted to correct the actual implant planning density; the implant planning density deviation represents the difference between the average value of the maximum and minimum values of the density division reference interval and the obtained actual implant planning density; if the actual implant planning density is in the density division reference interval, the actual implant planning density corresponding to the density division reference interval is used as the final implant density; the final implant density is associated with the two-dimensional coordinate system to generate coordinate parameters of various implant point positions in the two-dimensional coordinate system, and the implant parameter matching is completed.

[0037] Before the adaptation check, data synchronization transmission accuracy verification is also included, specifically: execute primary data transmission, at the same time send a pause signal to the secondary scanning data transmission interface, when the receiving end of the primary data node sends a transmission completion confirmation signal, it is determined that the primary data transmission is complete; after the primary data transmission is complete, execute secondary scanning data transmission, when the receiving end of the secondary data node sends a transmission completion confirmation signal, it is determined that the secondary scanning data transmission is complete; after the secondary scanning data transmission is complete, ensure that the planting core data is accurately synchronized to the hair transplantation operation end and perform an adaptation check; otherwise, it indicates that the planting core data has not been accurately synchronized to the hair transplantation operation end, at this time, the retransmission process of the primary data and the secondary scanning data needs to be executed, and the transmission abnormal node (such as the primary data receiving end not responding, the secondary data transmission interruption position) is recorded, after retransmission, the data synchronization state is manually verified again, and when the manual verification qualified instruction is received, the adaptation check is started again.

[0038] In the present embodiment, the "primary and secondary" in the above-mentioned primary data transmission and secondary data transmission refers to the data transmission priority level, the primary core data is transmitted first, and then the secondary auxiliary data is transmitted; the secondary scanning data is the auxiliary information of the hair follicle in the hierarchical scanning except the core, and the secondary scanning data transmission interface is paused, which can avoid the interference of the secondary data transmission to the primary data transmission, ensure the integrity, accuracy and rapid transmission of the primary core data to the receiving end, and improve the transmission efficiency and stability.

[0039] In the hierarchical scanning link, the scanning layer thickness is dynamically adjusted according to the hair follicle density data, which optimizes the coverage range and fineness of positioning; by increasing the scanning layer thickness, the scanning coverage area can be expanded, avoiding missing potential planting points due to too narrow scanning range, while reducing the scanning layer thickness can improve the scanning resolution, making the position identification of each hair follicle more accurate, avoiding point overlapping or coordinate deviation caused by insufficient scanning accuracy, and making the positioning of different density areas conform to the actual hair follicle distribution; the adaptation check in the planting parameter matching further guarantees the positioning accuracy from the parameter coordination level.

[0040] By optimizing the data collection accuracy to correct the positioning parameter deviation, the final planting density is matched with the positioning point in the two-dimensional coordinate system, if the density is within the reference interval, the planned density is used, which ensures the stability of the positioning parameters, and makes the positioning result meet the overall planning requirements and adapt to the hair follicle distribution characteristics in local areas; the data synchronization transmission accuracy verification before the adaptation check guarantees the positioning accuracy from the data source, avoids congestion or confusion that may occur when multiple dimensional data is transmitted at the same time, prevents the loss of positioning coordinates caused by data loss, accurately repairs data breakpoints, ensures that the planting core data is complete and accurate, and synchronizes to the operation end, avoids the invalidation of microneedle positioning basis caused by data errors, and makes all subsequent positioning operations based on reliable data.

[0041] The hair follicle density data deviation is represented by the difference between the preset hair follicle density data and the obtained hair follicle density data, the preset hair follicle density data is a value set in advance and calibrated according to the hair follicle main body, in actual application, each hair follicle main body has different preset hair follicle density data, the hair follicle density-scan layer mapping relationship is supervised learning based on historical hair follicle density data and scan layer thickness using a convolutional neural network, and a mapping relationship between hair follicle density data deviation and scan layer thickness adjustment value is constructed; the density division reference interval is a closed interval composed of the maximum value and the minimum value of the historical actual planting planning density in the historical adaptation verification process, and the density deviation-scan layer mapping relationship is supervised learning using a multilayer perceptron model by collecting historical planting planning density deviation and corresponding scan layer sampling frequency adjustment value, to generate a relationship model that can map density deviation and scan layer sampling frequency adjustment value, similarly, the mapping relationship involved in the embodiments of the application is realized by a similar method, and the process is specifically described in the embodiments of the application mentioned above.

[0042] As shown in Figure 3 The process diagram corresponding to the microneedle precise positioning alignment module provided by the embodiments of the application is shown in FIG. 1, the coordinate interval is obtained by marking each hair follicle coordinate position, and it is judged whether the obtained coordinate interval is less than a preset value, if not, the deformation and execution deviation are monitored in real time, if less than, it is further judged whether it is located in the same priority area, if yes, the hair follicle coordinate with the smallest distance to the sub-area boundary interval is further adjusted, if not located in the same priority area, the planting accuracy of the first priority area is preferentially ensured, and after the judgment is completed, the real-time monitoring of the deformation and execution deviation is performed, the position coordinate deviation is obtained, it is judged whether it exceeds a critical value, if yes, a positioning system calibration prompt is output, otherwise a planting execution confirmation signal is output.

[0043] Further, the coordinates of each follicle in the region to be transplanted are marked in the two-dimensional coordinate system. The specific steps are as follows: obtaining the spatial features of each follicle in the region to be transplanted after gradient division, including the center coordinates of the follicle opening and the growth direction vector; mapping the spatial features of each follicle to the two-dimensional coordinate system to obtain a spatial feature coordinate system and determine the coordinate values of each follicle in the spatial feature coordinate system, and sequentially obtaining the coordinate distance between adjacent follicles; if the coordinate distance between adjacent follicles is less than the preset coordinate distance and the adjacent follicles are located in the same priority area, then the obtained coordinate distance deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the follicle coordinate adjustment value with the smallest sub-region boundary distance, so as to maintain the uniformity of follicle distribution in the region; if the coordinate distance between adjacent follicles is less than the preset coordinate distance, but the adjacent follicles are located in different priority areas, then the first priority area is taken as the first order, the obtained coordinate distance deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the follicle coordinate adjustment value offset to the direction of the first priority area, so as to preferentially ensure the planting accuracy of the first priority area; after the follicle coordinate adjustment, the real-time monitoring of the skin dynamic deformation and the micro-needle execution position deviation is performed.

[0044] The marked follicle positioning coordinate data in the spatial feature coordinate system is obtained, and the skin dynamic deformation is collected at a preset collection frequency to construct a pressure-deformation relationship curve with pressure as the horizontal coordinate and deformation as the vertical coordinate; the slope change amplitude of the pressure-deformation relationship curve in the specified positioning monitoring period is obtained, if the obtained slope change amplitude is not greater than the reference curve slope change amplitude, then the slope change in the pressure-deformation relationship curve is continuously monitored; otherwise, the coordinate value in the current pressure-deformation relationship curve is obtained and input into the collection frequency-positioning coordinate mapping relationship to obtain a collection frequency adjustment value to increase the collection frequency to the current adjustment value.

[0045] After the collection frequency adjustment, the slope change amplitude is monitored in real time.

[0046] In addition, it also needs to be considered whether there is a deviation between the pre-set target follicle position and the execution positioning of the micro-needle itself during the micro-needle execution of the hair transplantation operation.

[0047] The straight-line distance between the current execution coordinate of the micro-needle tip and the marked target follicle positioning coordinate is processed by difference to obtain the position coordinate deviation; if the obtained position coordinate deviation continuously exceeds the deviation threshold value within the preset positioning monitoring period, the positioning system calibration prompt is triggered, and the micro-needle puncture path change feedback is performed; otherwise, the positioning verification of the current follicle planting point is completed, the planting execution confirmation signal of the point is generated, and the planting execution data table is updated synchronously, which provides accurate coordinate basis for subsequent micro-needle puncture operation.

[0048] In the embodiment, the accuracy, uniformity and dynamic adaptability of hair follicle positioning are improved through multi-dimensional coordinate calibration, dynamic monitoring and closed-loop verification; the hair follicle opening center coordinates and growth direction vectors are mapped to a two-dimensional coordinate system and a spatial feature coordinate system is constructed, so that the coordinates of each hair follicle correspond not only to the plane position, but also to the actual growth state, ensuring the matching degree of positioning and the real spatial properties of hair follicles from the coordinate generation source, and laying a coordinate foundation that fits the physiological characteristics of hair follicles for subsequent accurate planting.

[0049] In the two-dimensional coordinate system of the image, the positioning adjustment is realized by modifying the X and Y coordinate values of the hair follicle on the image, so that the hair follicle coordinate points on the image are more uniform in visual distribution, avoiding the situation of local coordinate points clustering or sparseness in the image, which is a direct modification of the spatial position of the coordinate points on the image; by constructing the stress-deformation relationship curve and monitoring the slope change, the subtle deformation trend of the scalp under external force is captured, and the dynamic state of the scalp is tracked more sensitively, ensuring that the positioning coordinates can match the actual position after the skin deformation in real time.

[0050] By comparing the distance between the micro-needle execution coordinates and the target hair follicle coordinates in real time, the positioning deviation is corrected in time to prevent the accumulation of deviation from causing planting misplacement, ensuring that the positioning of each hair follicle planting point is strictly verified, providing a highly reliable coordinate basis for subsequent micro-needle puncture; the hair follicle positioning not only meets the physiological characteristics and regional priority requirements of hair follicles, but also can respond to the dynamic changes of the scalp in real time, comprehensively improving the reliability and adaptability of positioning, and providing key support for the accurate alignment of micro-needles and target hair follicles.

[0051] The preset coordinate interval is represented by the result of summing and averaging the historical coordinate intervals in the marking process of the hair follicle coordinate positions in the historical hair transplant area; the coordinate interval deviation represents the difference between the obtained coordinate interval and the preset coordinate interval; the coordinate deviation-offset displacement mapping relationship is generated by collecting historical coordinate interval deviations and corresponding sub-region boundary information, using a multi-layer perception regression model for supervised learning to generate a relationship model that can map the coordinate deviation and the optimal offset displacement; the preset acquisition frequency is a value set in advance according to the acquisition purpose, the reference curve slope change amplitude is represented by the result of summing and averaging the historical curve slope change amplitudes in the historical monitoring process, and the acquisition frequency-positioning coordinate mapping relationship is obtained by collecting the coordinate values of the historical stress-deformation relationship curve and the positioning coordinate deviations under different acquisition frequencies, using a long short-term memory network (LSTM, Long Short-Term Memory Network) combined with a fully connected layer for supervised learning to generate a relationship model that can map the stress-deformation coordinate values and the acquisition frequency adjustment values, and the deviation threshold is represented by the result of summing and averaging the historical position coordinate deviations in the historical monitoring process.

[0052] The above-described embodiments can be implemented in whole or in part by software, hardware (such as a circuit), firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0053] It should be understood that the term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects, but can also represent an "and / or" relationship, which can be understood in the context before and after.

[0054] In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0055] It should be understood that in various embodiments of the present application, the size of the sequence number of the above-described processes does not mean the order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0056] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0057] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the devices, apparatuses and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0058] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0059] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0060] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0061] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0062] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A microneedle art hair transplantation follicle intelligent precise positioning system, characterized in that, Comprise the following modules: planting area positioning planning module, hair follicle preliminary positioning module and microneedle accurate positioning alignment module; The planting area positioning planning module is used for determining a hair transplant area according to obtained hair follicle three-dimensional network imaging, synchronously establishing a two-dimensional coordinate system with the target area as a reference, and performing preliminary planting density planning based on obtained hair follicle distribution data to generate a planting point distribution scheme, wherein the hair follicle three-dimensional network imaging represents a hair transplant area range marked and positioned by an image recognition algorithm, and the two-dimensional coordinate system represents a three-dimensional positioning reference formed by taking the center of the target area as an origin and taking the depth of the hair follicle as a Z-axis. The hair follicle preliminary positioning module is used for performing hair follicle density gradient division on the determined hair transplant area to determine a differential density gradient interval, and marking each hair follicle coordinate position of the hair transplant area in the two-dimensional coordinate system to form a visual hair follicle planting point distribution map. The microneedle accurate positioning alignment module is used for monitoring skin dynamic deformation and microneedle positioning coordinate deviation in the two-dimensional coordinate system in real time according to the marked hair follicle coordinate position, and adjusting the microneedle penetration to realize accurate positioning and alignment of the microneedle and the target hair follicle. The preliminary planting density planning comprises the following specific steps: Obtain the hair follicle density of the planting object and the residual hair follicle density in the hair transplant area from the hair follicle three-dimensional network imaging data, perform difference operation on the hair follicle density of the planting object and the residual hair follicle density, and perform weighted processing combined with the area ratio of the hair transplant area to obtain a hair follicle density index reflecting the hair follicle damage degree and supplement demand of the hair transplant area. Input the hair follicle density index deviation into a reference density mapping table to obtain an initial planting density reflecting the hair follicle distribution level of the hair transplant area. Based on the obtained initial planting density, the surface deformation coefficient of the planting object and the hair transplant area is monitored in real time, and the surface deformation coefficient represents the deformation amount of the scalp of the hair transplant area under external force and the ratio of the applied pressure. The preliminary planting density planning further comprises the following steps: For the area with a surface deformation coefficient greater than a preset surface deformation coefficient, input the surface deformation coefficient upper deviation into a deformation coefficient-planting density mapping relationship to obtain a depth increase value of the microneedle penetration, and increase the current penetration depth by increasing the microneedle feed amount. For the area with a surface deformation coefficient less than a preset surface deformation coefficient, input the surface deformation coefficient lower deviation into a deformation coefficient-planting density mapping relationship to obtain a depth decrease value of the microneedle penetration, and reduce the current penetration depth by reducing the microneedle feed rate. Obtain the dynamically adjusted microneedle penetration depth, and generate a final planting density scheme suitable for different hair transplant area deformation characteristics combined with the initial planting density.

2. The micro-needle art hair transplantation follicle intelligent accurate positioning system of claim 1, wherein, The specific process of determining the hair transplant area comprises the following steps: Obtain data reflecting the hair follicle distribution of the target area from the hair follicle three-dimensional network imaging data, and divide the target area into a plurality of sub-areas in a fixed grid division manner, and perform priority sorting on each sub-area, specifically as follows: The center coordinate matching degree reflecting the priority of each sub-region is generated based on preset priority arrangement rules, and is mapped to the three-dimensional network imaging of hair follicles, and priority evaluation interval division is performed to differentiate different priority regions; The center coordinate matching degree represents the degree of coincidence between the geometric center coordinates of each sub-region and the center coordinates of the reference region to be transplanted.

3. The micro-needle art hair transplantation follicle intelligent accurate positioning system of claim 2, wherein, The priority evaluation interval division process is as follows: If the center coordinate matching degree of a sub-region is greater than the maximum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a first priority region; If the center coordinate matching degree of a sub-region is within the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a second priority region; If the center coordinate matching degree of a sub-region is less than the minimum value of the reference center coordinate matching degree interval, the corresponding sub-region is recorded as a third priority region; The first priority region, the second priority region, and the third priority region have decreasing levels of urgency and priority processing order; After the priority region division, the first, second, and third priority regions are color-coded in the three-dimensional network imaging of hair follicles; The scalp parameters of each sub-region after priority sorting are recorded, and the coordinates of the region to be transplanted are output to prompt the preset personnel to confirm the region to be transplanted, and after confirmation, the region to be transplanted is marked in the three-dimensional network imaging of hair follicles.

4. The micro-needle art hair transplant follicle intelligent precise positioning system of claim 1, wherein, The process of dividing the hair follicle density gradient is as follows: The coordinate parameters of each sub-region of the region to be transplanted are obtained from the two-dimensional coordinate system, and combined with the final planting density scheme to generate a planting execution data table containing sub-region coordinates, planting point distribution, and puncture depth parameters, which are used to guide the micro-needle to perform hair transplantation according to precise positioning and density requirements; The hair follicle density data corresponding to different scanning layers in the hierarchical scanning process of the region to be transplanted are obtained from the planting execution data table; If the obtained hair follicle density data is less than the preset hair follicle density data, the hair follicle density data deviation is matched with the hair follicle density-scan layer mapping relationship to obtain the adjustment value of the scanning layer thickness in hierarchical scanning, so as to increase the scanning layer thickness to improve the coverage rate of hair follicle recognition, and vice versa to reduce the scanning layer thickness to improve the positioning accuracy; After hierarchical scanning is completed, the planting parameter matching is performed.

5. The micro-needle art hair transplant follicle intelligent precise positioning system of claim 4, wherein, The specific steps of the planting parameter matching are as follows: Based on the measured data of each layer of hair follicle distribution obtained after hierarchical scanning of the region to be transplanted, the actual planting planning density is calculated by a weighting algorithm, and an adaptive verification is performed to determine the final planting density of each hierarchical region; The adaptive verification is as follows: If the actual planting planning density is not within the density division reference interval, the planting planning density deviation is input into the density deviation-scan layer mapping relationship to obtain the adjustment value of the actual planting planning density, and the sampling frequency of hierarchical scanning is adjusted to correct the actual planting planning density; If the actual planting planning density is within the density division reference interval, the actual planting planning density corresponding to the density division reference interval is used as the final planting density. The final planting density is associated with the two-dimensional coordinate system, coordinates of various planting point positions in the two-dimensional coordinate system are generated, and planting parameter matching is completed.

6. The micro-needle art hair transplant follicle intelligent precise positioning system of claim 5, wherein, Before the adaptive verification, the data synchronization transmission accuracy verification is further included, specifically as follows: The first level data transmission is performed, and a pause signal is sent to the transmission interface of the second level scanning data, when a transmission completion confirmation signal of the first level data node of the receiving end is monitored, it is determined that the first level data transmission is completed; After the first level data transmission is completed, the second level scanning data transmission is performed, when a transmission completion confirmation signal of the second level data node of the receiving end is monitored, it is determined that the second level scanning data transmission is completed; After the second level scanning data transmission is completed, the planting core data is accurately synchronized to the hair transplantation operation end, and the adaptive verification is performed; Otherwise, the retransmission process of the first level data and the second level scanning data is performed, and the transmission abnormal node is recorded, after retransmission, the data synchronization state is manually verified again, when a manual verification qualified instruction is received, the adaptive verification is started again.

7. The micro-needle art hair transplant follicle intelligent precise positioning system of claim 1, wherein, The steps of marking the coordinates of each follicle in the hair transplantation area in the two-dimensional coordinate system are as follows: Obtain the spatial characteristics of each follicle in the hair transplantation area after gradient division, including the follicle opening center coordinates and growth direction vector; Map the spatial characteristics of each follicle to the two-dimensional coordinate system to obtain the spatial characteristic coordinate system, and determine the coordinate values of each follicle in the spatial characteristic coordinate system, and obtain the coordinate distance between adjacent follicles in turn; If the coordinate distance between adjacent follicles is less than the preset coordinate distance, and the adjacent follicles are located in the same priority area, the obtained coordinate distance deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the follicle coordinate adjustment value with the smallest sub-region boundary distance, so as to maintain the uniformity of the follicle distribution in the region; If the coordinate distance between adjacent follicles is less than the preset coordinate distance, but the adjacent follicles are located in different priority areas, the first priority area is taken as the first order, the obtained coordinate distance deviation is matched with the coordinate deviation-offset displacement mapping relationship to obtain the follicle coordinate adjustment value offset to the first priority area, so as to preferentially ensure the planting accuracy of the first priority area; After the follicle coordinate adjustment, the skin dynamic deformation and the micro-needle execution position deviation are monitored in real time.

8. The micro-needle art hair transplant follicle intelligent precise positioning system of claim 7, wherein, The specific steps of monitoring the skin dynamic deformation and the micro-needle execution position deviation in real time are as follows: Obtain the marked follicle positioning coordinate data in the spatial characteristic coordinate system, and collect the skin dynamic deformation variable at a preset collection frequency to construct a pressure-deformation relationship curve with pressure as the horizontal coordinate and deformation as the vertical coordinate; Obtain the slope change amplitude of the pressure-deformation relationship curve in the specified positioning monitoring period, if the obtained slope change amplitude is not greater than the reference curve slope change amplitude, continue to monitor the slope change in the pressure-deformation relationship curve; Otherwise, obtain the coordinate value in the current pressure-deformation relationship curve and input it into the collection frequency-positioning coordinate mapping relationship to obtain the collection frequency adjustment value to increase the collection frequency to the current adjustment value; After the acquisition frequency is adjusted, a position coordinate deviation is obtained by a straight-line distance between a current execution coordinate of a micro-needle tip fed back in real time by the micro-needle and a marked target hair follicle positioning coordinate; If the obtained position coordinate deviation continuously exceeds a deviation threshold value within a preset positioning monitoring period, a positioning system calibration prompt is triggered, and a micro-needle puncture path change feedback is performed; Otherwise, positioning verification of a current hair follicle planting point is completed, a planting execution confirmation signal of the point is generated, and the point is synchronously updated to a planting execution data table.

Images